A method for generating dynamic coupling models

Abstract

The present invention discloses a method for generating a dynamic coupling model. The method comprises setting benchmark points and arranging observation piers; transmitting benchmark gravity values ​​to the observation piers; collecting spatial pose change data and three-dimensional coordinate data of markers; obtaining relative gravity joint measurement data through relative gravity joint measurement; calculating the three-dimensional displacement of each observation pier based on the spatial pose change data; fusing the benchmark gravity values, relative gravity joint measurement data, and three-dimensional coordinate data to construct a gravity gradient field tensor model; systematically integrating the three-dimensional displacement, gravity gradient field tensor model, and three-dimensional coordinate data to form a spatial correlation framework; and performing a joint adjustment based on a conditional least squares model to constrain the physical coupling mechanism of displacement and gravity gradient to generate a dynamic coupling model of the interaction between the deformation field and the gravity field. The method achieves the unification of the spatiotemporal benchmarks of displacement and gravity data, eliminates rotation errors and local interference, enhances the reliability of the gravity gradient field, and physically constrains the coupling mechanism of deformation and gravity.

Description

Technical Field

[0001] The present invention relates to the field of engineering measurement, and in particular to a dynamic coupling model generation method. Background Art

[0002] The forced centering observation pier is a core tool for engineering surveying and is used to obtain elevation information. Its structure includes the observation pier body and the forced centering rod on the top. The shoulder plane of the forced centering rod is fixed with various instruments by screw connection. However, in high-precision elevation measurement operations, directly measuring the height of the shoulder plane of the forced centering rod faces difficulties. It is impossible to perform vertical measurement with the help of leveling, steel ruler or handheld rangefinder, and it must be operated indirectly with the help of an extension arm device.

[0003] Existing technologies separate deformation displacement data from gravity field change data, resulting in inconsistent temporal and spatial benchmarks. The transmission of benchmark gravity values ​​is susceptible to environmental disturbances and instrument drift. Monitoring of spatial posture changes in forced-centering observation piers is difficult to eliminate the coupling influence of rotation errors on displacement vectors. At the same time, gravity gradient field modeling lacks a physical connection mechanism with three-dimensional displacement, and local geological interference noise further weakens data reliability, which urgently needs to be improved. Summary of the Invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a dynamic coupling model generation method, including: setting benchmark points and arranging one or more observation piers with markers on the observation piers; obtaining benchmark gravity values ​​through the benchmark points and transmitting them to each observation pier; collecting spatial posture change data and three-dimensional coordinate data of the markers of each observation pier; obtaining relative gravity joint measurement data through relative gravity joint measurement; calculating the three-dimensional displacement of each observation pier based on the spatial posture change data; fusing the benchmark gravity values, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model; systematically integrating the three-dimensional displacement, the gravity gradient field tensor model and the three-dimensional coordinate data to form a spatial correlation framework; and performing a joint adjustment solution based on the physical coupling mechanism of the displacement and gravity gradient constrained by the conditional least squares model to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0005] Furthermore, obtaining the reference gravity value through the reference point and transmitting it to each observation pier specifically includes: using an absolute gravimeter to perform multiple consecutive independent measurements at the reference point to obtain original observation data of the reference gravity value; using a temperature and pressure compensation algorithm to perform environmental correction on the original observation data to eliminate instrument drift errors and generate calibrated reference gravity values; transmitting the calibrated reference gravity values ​​to each observation pier according to the principle of equal weight distribution to complete the spatial calibration of the gravity reference network.

[0006] Furthermore, the collection of spatial posture change data and three-dimensional coordinate data of each observation pier marker specifically includes: based on the gravity reference network spatial calibration, using a high-precision total station to perform the first measurement of the markers on the observation pier, recording the initial three-dimensional coordinates and initial attitude angles and forming a reference posture data set; performing total station re-measurement of the observation pier markers at preset time intervals, synchronously obtaining the current three-dimensional coordinates and attitude angles, and generating a dynamic posture monitoring data set; aligning the reference posture data set of the initial measurement phase with the dynamic posture data set of the periodic monitoring phase in time and space, solving the three-dimensional displacement vector and rotation change matrix of the observation pier through coordinate difference and attitude angle change calculation, and finally integrating them into spatial posture change data and three-dimensional coordinate data.

[0007] Furthermore, the relative gravity joint measurement data is obtained by relative gravity joint measurement, specifically including: planning a relative gravity joint measurement route according to the distribution of observation piers, determining the gravimeter movement path and measurement sequence; using the relative gravimeter to perform round-trip synchronous measurement on each observation pier in turn along the planned route, and recording the original gravity difference data and environmental temperature and humidity parameters between each observation pier during each joint measurement; and jointly correcting the original data based on the temperature gradient compensation model and the instrument nonlinear error correction algorithm, and finally generating relative gravity joint measurement data with a unified benchmark between each observation pier.

[0008] Furthermore, the three-dimensional displacement of each observation pier is calculated based on the spatial posture change data, specifically including: based on the spatial posture change data, the displacement vector of the local coordinate system of each observation pier is uniformly converted to the global geodetic coordinate system through the reference point geodetic coordinate conversion parameter; according to the rotation change matrix, the coupling effect of the posture change of the observation pier on the three-dimensional displacement is decomposed, the Euler angle inverse compensation algorithm is used to eliminate the rotation error, the pure translation component is extracted and the displacement modulus is calculated; the displacement time series superposition analysis is performed on the multi-cycle monitoring results, and after standard deviation test and gross error elimination, the three-dimensional displacement of each observation pier in the horizontal and vertical directions is generated.

[0009] Furthermore, the fusion of benchmark gravity values, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model specifically includes: based on the benchmark gravity values ​​transmitted to each observation pier, combined with the spatiotemporal distribution of three-dimensional displacement, the gravity benchmark values ​​of each observation pier at different time nodes are unified into the same spatiotemporal coordinate system through the least squares adjustment method; using the relative gravity joint measurement data, with the unified benchmark gravity value as a constraint, the absolute gravity value of each observation pier is calculated using the gravity field integral algorithm to form a discrete absolute gravity value array covering the target area; fusing the three-dimensional coordinate data as a spatial position parameter, performing spatial differential operations on the absolute gravity value array, calculating the horizontal and vertical gravity gradient components, and eliminating local interference noise through cross-validation of the gradient values ​​of adjacent observation piers, and finally outputting the gravity gradient field tensor model.

[0010] Furthermore, the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data are systematically integrated to form a spatial correlation framework, specifically including: based on the three-dimensional coordinate data, extracting the initial spatial position information of all observation piers as a reference spatial grid, and constructing a position reference skeleton; mapping the three-dimensional displacement to the reference spatial grid, updating the dynamic position sequence of each observation pier by superposition of displacement vectors, and generating a space-time framework that integrates position changes; integrating the gravity gradient field tensor model, spatially correlating the gravity gradient field tensor model with the space-time framework, using the Kriging interpolation algorithm to establish the correspondence between the gravity gradient component and the coordinate displacement, and finally outputting a systematically integrated spatial correlation framework.

[0011] Furthermore, the physical coupling mechanism of displacement and gravity gradient constrained by the conditional least squares model is used for joint adjustment and solution to generate a dynamic coupling model of the interaction between the deformation field and the gravity field, specifically including: based on the spatial association framework, extracting the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data of all observation piers, constructing a physical coupling equation group of displacement vector field and gravity gradient tensor field, and defining the interaction mechanism between the deformation field, i.e., displacement change, and the gravity field, i.e., gradient change; applying the conditional least squares model, introducing physical constraints such as the law of conservation of mass or the elastic deformation equation, and obtaining the joint adjustment solution result of the coupling equation group; based on the joint adjustment solution result, integrating the displacement vector and gravity gradient components to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0012] The present invention establishes a stable gravity benchmark network by setting benchmark points and deploying observation piers with markers. Absolute gravimeters, combined with an environmental correction algorithm, are used to obtain high-precision benchmark gravity values, and spatial calibration is completed through an equal-weight transfer mechanism. High-precision total stations are used to periodically collect spatial pose change data and three-dimensional coordinate data of observation pier markers. Pure three-dimensional displacements are extracted using a coordinate difference and attitude rotation decoupling algorithm. Temperature gradient-compensated relative gravity data are simultaneously combined with the three-dimensional coordinate data to construct a noise-resistant gravity gradient field tensor model. Finally, through a systematically integrated spatial correlation framework, a conditional least squares model is applied to introduce physical constraints for joint adjustment and calculation, generating a dynamic coupling model of the interaction between the deformation field and the gravity field. The present invention can unify the spatiotemporal benchmarks of displacement and gravity data, eliminate rotation errors and local interference, enhance the reliability of the gravity gradient field, and physically constrain the coupling mechanism of deformation and gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an overall flow chart of a dynamic coupling model generation method of the present invention;

[0014] Figure 2 This is a partial process of a dynamic coupling model generation method of the present invention Figure 1 ;

[0015] Figure 3 This is a partial process of a dynamic coupling model generation method of the present invention Figure 2 ;

[0016] Figure 4 This is a partial process of a dynamic coupling model generation method of the present invention Figure 3 ;

[0017] Figure 5 This is a partial process of a dynamic coupling model generation method of the present invention Figure 4 ;

[0018] Figure 6 This is a partial process of a dynamic coupling model generation method of the present invention Figure 5 ;

[0019] Figure 7 This is a partial process of a dynamic coupling model generation method of the present invention Figure 6 ;

[0020] Figure 8 This is a partial process of a dynamic coupling model generation method of the present invention Figure 7 . DETAILED DESCRIPTION

[0021] refer to Figures 1-8 , the present invention proposes a dynamic coupling model generation method, which specifically includes:

[0022] S1. Set up benchmark points and arrange one or more observation piers with markers on them.

[0023] Setting a benchmark is to establish a fixed reference point in a stable geological area to ensure a reliable origin for subsequent measurements. One or more observation piers are deployed in the target area to expand the measurement network to cover key locations. When deploying observation piers, each must be securely mounted and equipped with markers to accurately identify and track spatial position changes. The presence of markers allows high-precision instruments such as total stations or laser scanners to efficiently acquire their position and attitude information during data collection, reducing human error. Specifically, the stable geological area refers to bedrock or reinforced platforms; the target area refers to areas of potential deformation; and the markers are reflective prisms or specific targets.

[0024] S2. Obtain the reference gravity value through the reference point and transmit it to each observation pier.

[0025] In this embodiment, step S2 specifically includes:

[0026] S21. Use an absolute gravimeter to perform multiple independent measurements at the reference point to obtain the original observation data of the reference gravity value.

[0027] S22. Use the temperature and pressure compensation algorithm to perform environmental correction on the original observation data, eliminate instrument drift errors, and generate calibrated reference gravity values.

[0028] S23. The calibrated reference gravity value is transferred to each observation pier according to the principle of equal weight distribution to complete the spatial calibration of the gravity reference network.

[0029] S3. Collect the spatial position change data and three-dimensional coordinate data of each observation pier marker.

[0030] In this embodiment, step S3 specifically includes:

[0031] S31. Based on the spatial calibration of the gravity reference network, a high-precision total station is used to perform the first measurement of the markers on the observation pier, record the initial three-dimensional coordinates and initial attitude angles, and form a reference posture dataset.

[0032] S32. Perform a total station re-survey of the observation pier marker at preset time intervals, synchronously obtain the current three-dimensional coordinates and attitude angles, and generate a dynamic posture monitoring data set.

[0033] S33. Align the reference pose dataset of the initial measurement phase with the dynamic pose dataset of the periodic monitoring phase in time and space. Calculate the three-dimensional displacement vector and rotation change matrix of the observation pier through coordinate difference and attitude angle change calculation, and finally integrate them into spatial pose change data and three-dimensional coordinate data.

[0034] S4. Obtain relative gravity joint measurement data through relative gravity joint measurement.

[0035] In this embodiment, step S4 specifically includes:

[0036] S41. Plan the relative gravity joint measurement route based on the distribution of observation piers, and determine the gravimeter movement path and measurement sequence.

[0037] S42. Use relative gravimeter to carry out round-trip synchronous measurement of each observation pier in sequence along the planned route, and record the original data of gravity difference and environmental temperature and humidity parameters between each observation pier during each joint measurement.

[0038] S43. Based on the temperature gradient compensation model and the instrument nonlinear error correction algorithm, the original data are jointly corrected, and finally relative gravity joint measurement data with a unified benchmark between each observation pier are generated.

[0039] S5. Calculate the three-dimensional displacement of each observation pier based on the spatial posture change data.

[0040] In this embodiment, step S5 specifically includes:

[0041] S51. Based on the spatial posture change data, the local coordinate system displacement vectors of each observation pier are uniformly converted to the global geodetic coordinate system through the reference point geodetic coordinate conversion parameters.

[0042] S52. Decompose the coupled influence of the attitude change of the observation pier on the three-dimensional displacement according to the rotation change matrix, use the Euler angle inverse compensation algorithm to eliminate the rotation error, extract the pure translation component and calculate the displacement modulus.

[0043] S53. Perform displacement time series superposition analysis on the multi-cycle monitoring results, and generate the three-dimensional displacement of each observation pier in the horizontal and vertical directions after standard deviation test and gross error elimination.

[0044] S6. Construct a gravity gradient field tensor model by integrating the benchmark gravity value, relative gravity joint measurement data and three-dimensional coordinate data.

[0045] In this embodiment, step S6 specifically includes:

[0046] S61. Based on the reference gravity value transmitted to each observation pier and combined with the spatiotemporal distribution of the three-dimensional displacement, the gravity reference value of each observation pier at different time nodes is unified into the same spatiotemporal coordinate system through the least squares adjustment method.

[0047] S62. Using the relative gravity joint measurement data and the unified reference gravity value as a constraint, the gravity field integration algorithm is used to calculate the absolute gravity value of each observation pier to form a discrete absolute gravity value array covering the target area.

[0048] S63. Integrate the three-dimensional coordinate data as spatial position parameters, perform spatial differential operations on the absolute gravity value array, calculate the horizontal and vertical gravity gradient components, and eliminate local interference noise through cross-validation of the gradient values ​​of adjacent observation piers, and finally output the gravity gradient field tensor model.

[0049] S7. Systematically integrate the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data to form a spatial correlation framework.

[0050] In this embodiment, step S7 specifically includes:

[0051] S71. Based on the three-dimensional coordinate data, extract the initial spatial position information of all observation piers as the reference spatial grid and construct a position reference skeleton.

[0052] S72. Map the three-dimensional displacement onto the reference space grid, and update the dynamic position sequence of each observation pier by superposition of displacement vectors to generate a spatiotemporal framework that integrates position changes.

[0053] S73. Integrate the gravity gradient field tensor model, spatially associate the gravity gradient field tensor model with the space-time framework, use the Kriging interpolation algorithm to establish the correspondence between the gravity gradient components and the coordinate displacement, and finally output a systematically integrated spatial association framework.

[0054] S8. Based on the physical coupling mechanism of displacement and gravity gradient constrained by the conditional least squares model, a joint adjustment solution is performed to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0055] In this embodiment, step S8 specifically includes:

[0056] S81. Based on the spatial correlation framework, extract the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data of all observation piers, construct the physical coupling equations of the displacement vector field and the gravity gradient tensor field, and define the interaction mechanism between the deformation field, i.e., displacement change, and the gravity field, i.e., gradient change.

[0057] S82. Apply the conditional least squares model, introduce physical constraints such as the law of conservation of mass or the elastic deformation equation, and obtain the joint adjustment solution results of the coupled equation group.

[0058] S83. Based on the results of the joint adjustment solution, the displacement vector and gravity gradient components are integrated to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0059] The present invention establishes a stable gravity benchmark network by setting benchmark points and deploying observation piers with markers. Absolute gravimeters are used in conjunction with an environmental correction algorithm to obtain high-precision benchmark gravity values, and spatial calibration is completed through an equal-weight transfer mechanism. A high-precision total station is used to periodically collect spatial pose change data and three-dimensional coordinate data of the observation pier markers. Pure three-dimensional displacements are extracted using a coordinate difference and attitude rotation decoupling algorithm. Relative gravity measurement data with temperature gradient compensation is simultaneously combined with the three-dimensional coordinate data to construct a noise-resistant gravity gradient field tensor model. Finally, through a systematically integrated spatial correlation framework, a conditional least squares model is applied to introduce physical constraints for joint adjustment and calculation, generating a dynamic coupling model of the interaction between the deformation field and the gravity field. This method achieves the unification of the spatiotemporal benchmarks of displacement and gravity data, eliminates rotation errors and local interference, enhances the reliability of the gravity gradient field, and physically constrains the coupling mechanism of deformation and gravity.

[0060] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for generating a dynamic coupling model, characterized in that: include: Setting a benchmark point and arranging one or more observation piers with markers on them; obtaining a benchmark gravity value through the benchmark point and transmitting it to each observation pier; Collect spatial position change data and three-dimensional coordinate data of each observation pier marker; Relative gravity joint measurement data are obtained through relative gravity joint measurement; Calculate the three-dimensional displacement of each observation pier based on the spatial posture change data; The gravity gradient field tensor model is constructed by integrating benchmark gravity values, relative gravity joint measurement data, and 3D coordinate data. The 3D displacement, gravity gradient field tensor model, and 3D coordinate data are systematically integrated to form a spatial correlation framework. A joint adjustment solution is performed based on the physical coupling mechanism of displacement and gravity gradient constrained by the conditional least squares model to generate a dynamic coupling model of the interaction between the deformation field and gravity field. The method of fusing the benchmark gravity value, relative gravity joint measurement data, and three-dimensional coordinate data to construct a gravity gradient field tensor model specifically includes: based on the benchmark gravity value transmitted to each observation pier, combined with the spatiotemporal distribution of the three-dimensional displacement, unifying the gravity benchmark values ​​of each observation pier at different time nodes into the same spatiotemporal coordinate system through the least squares adjustment method; using the relative gravity joint measurement data, with the unified benchmark gravity value as a constraint, adopting the gravity field integration algorithm to calculate the absolute gravity value of each observation pier, forming a discrete absolute gravity value array covering the target area; fusing the three-dimensional coordinate data as a spatial position parameter, performing spatial differential operations on the absolute gravity value array, calculating the horizontal and vertical gravity gradient components, and eliminating local interference noise through cross-validation of the gradient values ​​of adjacent observation piers, and finally outputting the gravity gradient field tensor model.

2. The method for generating a dynamic coupling model according to claim 1, wherein: The method of obtaining a reference gravity value through a reference point and transmitting it to each observation pier specifically includes: using an absolute gravimeter to perform multiple consecutive independent measurements at the reference point to obtain original observation data of the reference gravity value; using a temperature and pressure compensation algorithm to perform environmental correction on the original observation data to eliminate instrument drift errors and generate calibrated reference gravity values; and transmitting the calibrated reference gravity values ​​to each observation pier according to the principle of equal weight distribution to complete the spatial calibration of the gravity reference network.

3. The method for generating a dynamic coupling model according to claim 1, wherein: The collection of spatial posture change data and three-dimensional coordinate data of each observation pier marker specifically includes: based on the gravity reference network spatial calibration, using a high-precision total station to perform the first measurement of the markers on the observation pier, recording the initial three-dimensional coordinates and initial attitude angles and forming a reference posture data set; performing total station re-measurement of the observation pier markers at preset time intervals, synchronously obtaining the current three-dimensional coordinates and attitude angles, and generating a dynamic posture monitoring data set; aligning the reference posture data set of the initial measurement phase with the dynamic posture data set of the periodic monitoring phase in time and space, solving the three-dimensional displacement vector and rotation change matrix of the observation pier through coordinate difference and attitude angle change calculation, and finally integrating them into spatial posture change data and three-dimensional coordinate data.

4. The method for generating a dynamic coupling model according to claim 1, wherein: The relative gravity joint measurement data is obtained by relative gravity joint measurement, specifically including: planning a relative gravity joint measurement route according to the distribution of observation piers, determining the movement path and measurement sequence of the gravimeter; using the relative gravimeter to perform round-trip synchronous measurement on each observation pier in sequence along the planned route, and recording the original gravity difference data and environmental temperature and humidity parameters between the observation piers during each joint measurement; and jointly correcting the original data based on a temperature gradient compensation model and an instrument nonlinear error correction algorithm, and finally generating relative gravity joint measurement data with a unified benchmark between the observation piers.

5. The method for generating a dynamic coupling model according to claim 1, wherein: The method of calculating the three-dimensional displacement of each observation pier based on the spatial posture change data specifically includes: based on the spatial posture change data, uniformly converting the displacement vector of the local coordinate system of each observation pier to the global geodetic coordinate system through the reference point geodetic coordinate conversion parameter; decomposing the coupling effect of the posture change of the observation pier on the three-dimensional displacement according to the rotation change matrix, using the Euler angle inverse compensation algorithm to eliminate the rotation error, extracting the pure translation component and calculating the displacement modulus; performing displacement time series superposition analysis on the multi-cycle monitoring results, and generating the three-dimensional displacement of each observation pier in the horizontal and vertical directions after standard deviation test and gross error elimination.

6. The method for generating a dynamic coupling model according to claim 1, wherein: The three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data are systematically integrated to form a spatial association framework, specifically including: extracting the initial spatial position information of all observation piers as a reference spatial grid based on the three-dimensional coordinate data to construct a position reference skeleton; mapping the three-dimensional displacement to the reference spatial grid, updating the dynamic position sequence of each observation pier by superposition of displacement vectors, and generating a spatiotemporal framework that integrates position changes; integrating the gravity gradient field tensor model, spatially associating the gravity gradient field tensor model with the spatiotemporal framework, using the Kriging interpolation algorithm to establish the correspondence between the gravity gradient component and the coordinate displacement, and finally outputting a systematically integrated spatial association framework.

7. The method for generating a dynamic coupling model according to claim 1, wherein: The method is based on the physical coupling mechanism of the conditional least squares model constrained displacement and gravity gradient to perform a joint adjustment solution to generate a dynamic coupling model of the interaction between the deformation field and the gravity field. Specifically, the method comprises: based on a spatial correlation framework, extracting the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data of all observation piers, constructing a physical coupling equation group of the displacement vector field and the gravity gradient tensor field, and defining the interaction mechanism between the deformation field, i.e., displacement change, and the gravity field, i.e., gradient change; applying the conditional least squares model, introducing physical constraints such as the law of conservation of mass or the elastic deformation equation, and obtaining the joint adjustment solution result of the coupling equation group; based on the joint adjustment solution result, integrating the displacement vector and gravity gradient components to generate the dynamic coupling model of the interaction between the deformation field and the gravity field.

Images